ifm3d_ros on Ubuntu 20.04 and ROS Noetic
Our package ìfm3d-ros
, more precisely the ifm3d_ros_driver
, depends on the underling C++ API ifm3d
. This needs to be installed first.
NOTE: The instructions below apply if you plan to build and install
ifm3d
from source.
NOTE: For older versions of theifm3d
(0.12.0 <version < 0.17.0
) binary Debian packages exist. These don’t contain the latest ifm3d version required for using the O3R camera platform. So please build from source as described below.
For further information about the ifm3d O3R hardware and software please see our developer website.
This article provides a quick-start guide for getting a fresh installation of Ubuntu 20.04 ready for usage with ifm3d-ros
and an O3R camera system. As a prerequisite for this article, we assume you already have Ubuntu 20.04 installed (but have done no other configuration). A minimal installation of 20.04 is sufficient for following along below.
Update the baseline Packages of your Ubuntu 20.04:
$ sudo apt-get update $ sudo apt-get -u upgrade
Install ROS Melodic:
Follow these steps exactly (we assume you did) and choose to installros-noetic-desktop-full
.Additional Dependencies:
There are a few things that we need to install to successfully build from source that we did not get implicitly by installing ROS. The following commands will handle these prerequisites:$ sudo apt-get install -y libboost-all-dev \ git \ libcurl4-openssl-dev \ libgtest-dev \ libgoogle-glog-dev \ libxmlrpc-c++8-dev \ libopencv-dev \ libpcl-dev \ libproj-dev \ python3-dev \ python3-pip \ build-essential \ coreutils \ findutils \ cmake \ locales \ ninja-build \ pybind11-dev
Install ifm3d:
ifm3d is the core underlying C++ driver thatifm3d_ros
wraps. To installifm3d
, please follow the instructions here.NOTE: Choose the correct ifm3d version. See compatibility Matrix.
You are now in position to install the
ifm3d-ros
wrapper. Please switch to the instructions here.
Known Issues and Defects
There is a bug in ifm3d v0.93.0
that says you must have OpenCV installed for ifm3d_ros.
Run the following command to avoid the issue:
sudo sed -i.bak '22,44d' /usr/lib/cmake/ifm3d-0.93.0/ifm3d-config.cmake